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   <div id="projectname">MRSL DecompUtil Library
   &#160;<span id="projectnumber">0.1</span>
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   <div id="projectbrief">An implementaion of convex decomposition over point cloud</div>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-methods">Protected Member Functions</a> &#124;
<a href="classIterativeDecomp-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">IterativeDecomp&lt; Dim &gt; Class Template Reference</div>  </div>
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<p><a class="el" href="classIterativeDecomp.html" title="IterativeDecomp Class. ">IterativeDecomp</a> Class.  
 <a href="classIterativeDecomp.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="iterative__decomp_8h_source.html">iterative_decomp.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for IterativeDecomp&lt; Dim &gt;:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classIterativeDecomp.png" usemap="#IterativeDecomp_3C_20Dim_20_3E_map" alt=""/>
  <map id="IterativeDecomp_3C_20Dim_20_3E_map" name="IterativeDecomp&lt; Dim &gt;_map">
<area href="classEllipsoidDecomp.html" title="EllipsoidDecomp Class. " alt="EllipsoidDecomp&lt; Dim &gt;" shape="rect" coords="0,0,150,24"/>
</map>
 </div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:af2649785ec5548cdf0f59e96486a2181"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af2649785ec5548cdf0f59e96486a2181"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classIterativeDecomp.html#af2649785ec5548cdf0f59e96486a2181">IterativeDecomp</a> ()</td></tr>
<tr class="memdesc:af2649785ec5548cdf0f59e96486a2181"><td class="mdescLeft">&#160;</td><td class="mdescRight">Simple constructor. <br /></td></tr>
<tr class="separator:af2649785ec5548cdf0f59e96486a2181"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7438eb4550b447e1e5422bb99359a39d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classIterativeDecomp.html#a7438eb4550b447e1e5422bb99359a39d">IterativeDecomp</a> (const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;origin, const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;dim)</td></tr>
<tr class="memdesc:a7438eb4550b447e1e5422bb99359a39d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Basic constructor.  <a href="#a7438eb4550b447e1e5422bb99359a39d">More...</a><br /></td></tr>
<tr class="separator:a7438eb4550b447e1e5422bb99359a39d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad735b75d676b2f4ee3b8f2015f95559c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classIterativeDecomp.html#ad735b75d676b2f4ee3b8f2015f95559c">dilate_iter</a> (const <a class="el" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf</a>&lt; Dim &gt; &amp;path_raw, int iter_num=5, <a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> res=0, <a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> offset_x=0)</td></tr>
<tr class="memdesc:ad735b75d676b2f4ee3b8f2015f95559c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Decomposition thread.  <a href="#ad735b75d676b2f4ee3b8f2015f95559c">More...</a><br /></td></tr>
<tr class="separator:ad735b75d676b2f4ee3b8f2015f95559c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classEllipsoidDecomp"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classEllipsoidDecomp')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classEllipsoidDecomp.html">EllipsoidDecomp&lt; Dim &gt;</a></td></tr>
<tr class="memitem:ac6e757930647fb499d1f1ffeef01b6a4 inherit pub_methods_classEllipsoidDecomp"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac6e757930647fb499d1f1ffeef01b6a4"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEllipsoidDecomp.html#ac6e757930647fb499d1f1ffeef01b6a4">EllipsoidDecomp</a> ()</td></tr>
<tr class="memdesc:ac6e757930647fb499d1f1ffeef01b6a4 inherit pub_methods_classEllipsoidDecomp"><td class="mdescLeft">&#160;</td><td class="mdescRight">Simple constructor. <br /></td></tr>
<tr class="separator:ac6e757930647fb499d1f1ffeef01b6a4 inherit pub_methods_classEllipsoidDecomp"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4c9617e1e2d94ead1ec921e9af7951d0 inherit pub_methods_classEllipsoidDecomp"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEllipsoidDecomp.html#a4c9617e1e2d94ead1ec921e9af7951d0">EllipsoidDecomp</a> (const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;origin, const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;dim)</td></tr>
<tr class="memdesc:a4c9617e1e2d94ead1ec921e9af7951d0 inherit pub_methods_classEllipsoidDecomp"><td class="mdescLeft">&#160;</td><td class="mdescRight">Basic constructor.  <a href="#a4c9617e1e2d94ead1ec921e9af7951d0">More...</a><br /></td></tr>
<tr class="separator:a4c9617e1e2d94ead1ec921e9af7951d0 inherit pub_methods_classEllipsoidDecomp"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa3ea99617acd7f626ac7e731be9bea9f inherit pub_methods_classEllipsoidDecomp"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa3ea99617acd7f626ac7e731be9bea9f"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEllipsoidDecomp.html#aa3ea99617acd7f626ac7e731be9bea9f">set_obs</a> (const <a class="el" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf</a>&lt; Dim &gt; &amp;obs)</td></tr>
<tr class="memdesc:aa3ea99617acd7f626ac7e731be9bea9f inherit pub_methods_classEllipsoidDecomp"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set obstacle points. <br /></td></tr>
<tr class="separator:aa3ea99617acd7f626ac7e731be9bea9f inherit pub_methods_classEllipsoidDecomp"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a98cbbe53c7d641b12bc9bb5916d8d6 inherit pub_methods_classEllipsoidDecomp"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3a98cbbe53c7d641b12bc9bb5916d8d6"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEllipsoidDecomp.html#a3a98cbbe53c7d641b12bc9bb5916d8d6">set_local_bbox</a> (const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;bbox)</td></tr>
<tr class="memdesc:a3a98cbbe53c7d641b12bc9bb5916d8d6 inherit pub_methods_classEllipsoidDecomp"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set dimension of bounding box. <br /></td></tr>
<tr class="separator:a3a98cbbe53c7d641b12bc9bb5916d8d6 inherit pub_methods_classEllipsoidDecomp"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad880fd3bbaa9b5ccefcbc4317bbc68a5 inherit pub_methods_classEllipsoidDecomp"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad880fd3bbaa9b5ccefcbc4317bbc68a5"></a>
<a class="el" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEllipsoidDecomp.html#ad880fd3bbaa9b5ccefcbc4317bbc68a5">get_path</a> () const </td></tr>
<tr class="memdesc:ad880fd3bbaa9b5ccefcbc4317bbc68a5 inherit pub_methods_classEllipsoidDecomp"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the path that is used for dilation. <br /></td></tr>
<tr class="separator:ad880fd3bbaa9b5ccefcbc4317bbc68a5 inherit pub_methods_classEllipsoidDecomp"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a111a2f74f8cc807d15e70e121bf03f7c inherit pub_methods_classEllipsoidDecomp"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a111a2f74f8cc807d15e70e121bf03f7c"></a>
<a class="el" href="data__type_8h.html#a30c607180de5bc1b7c30f5cbaf9b188b">vec_E</a>&lt; <a class="el" href="structPolyhedron.html">Polyhedron</a>&lt; Dim &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEllipsoidDecomp.html#a111a2f74f8cc807d15e70e121bf03f7c">get_polyhedrons</a> () const </td></tr>
<tr class="memdesc:a111a2f74f8cc807d15e70e121bf03f7c inherit pub_methods_classEllipsoidDecomp"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the Safe Flight Corridor. <br /></td></tr>
<tr class="separator:a111a2f74f8cc807d15e70e121bf03f7c inherit pub_methods_classEllipsoidDecomp"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c8bf3ede2d7be93d74239cae76495e6 inherit pub_methods_classEllipsoidDecomp"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3c8bf3ede2d7be93d74239cae76495e6"></a>
<a class="el" href="data__type_8h.html#a30c607180de5bc1b7c30f5cbaf9b188b">vec_E</a>&lt; <a class="el" href="structEllipsoid.html">Ellipsoid</a>&lt; Dim &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEllipsoidDecomp.html#a3c8bf3ede2d7be93d74239cae76495e6">get_ellipsoids</a> () const </td></tr>
<tr class="memdesc:a3c8bf3ede2d7be93d74239cae76495e6 inherit pub_methods_classEllipsoidDecomp"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the ellipsoids. <br /></td></tr>
<tr class="separator:a3c8bf3ede2d7be93d74239cae76495e6 inherit pub_methods_classEllipsoidDecomp"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa43d19fea353dfd9466f729c0c38c581 inherit pub_methods_classEllipsoidDecomp"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa43d19fea353dfd9466f729c0c38c581"></a>
<a class="el" href="data__type_8h.html#a30c607180de5bc1b7c30f5cbaf9b188b">vec_E</a>&lt; <a class="el" href="structLinearConstraint.html">LinearConstraint</a>&lt; Dim &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEllipsoidDecomp.html#aa43d19fea353dfd9466f729c0c38c581">get_constraints</a> () const </td></tr>
<tr class="memdesc:aa43d19fea353dfd9466f729c0c38c581 inherit pub_methods_classEllipsoidDecomp"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the constraints of SFC as <img class="formulaInl" alt="$Ax\leq b $" src="form_2.png"/>. <br /></td></tr>
<tr class="separator:aa43d19fea353dfd9466f729c0c38c581 inherit pub_methods_classEllipsoidDecomp"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaf4731df44249fe6ed026efa12d6bf63 inherit pub_methods_classEllipsoidDecomp"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEllipsoidDecomp.html#aaf4731df44249fe6ed026efa12d6bf63">dilate</a> (const <a class="el" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf</a>&lt; Dim &gt; &amp;path, double offset_x=0)</td></tr>
<tr class="memdesc:aaf4731df44249fe6ed026efa12d6bf63 inherit pub_methods_classEllipsoidDecomp"><td class="mdescLeft">&#160;</td><td class="mdescRight">Decomposition thread.  <a href="#aaf4731df44249fe6ed026efa12d6bf63">More...</a><br /></td></tr>
<tr class="separator:aaf4731df44249fe6ed026efa12d6bf63 inherit pub_methods_classEllipsoidDecomp"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a359ab6e36450d30ea16a6ad885f27648"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a359ab6e36450d30ea16a6ad885f27648"></a>
<a class="el" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classIterativeDecomp.html#a359ab6e36450d30ea16a6ad885f27648">downsample</a> (const <a class="el" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf</a>&lt; Dim &gt; &amp;ps, <a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> d)</td></tr>
<tr class="memdesc:a359ab6e36450d30ea16a6ad885f27648"><td class="mdescLeft">&#160;</td><td class="mdescRight">Uniformly sample path into many segments. <br /></td></tr>
<tr class="separator:a359ab6e36450d30ea16a6ad885f27648"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6df4c75ba768e0b0866ab0de79955639"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6df4c75ba768e0b0866ab0de79955639"></a>
<a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classIterativeDecomp.html#a6df4c75ba768e0b0866ab0de79955639">cal_closest_dist</a> (const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;pt, const <a class="el" href="structPolyhedron.html">Polyhedron</a>&lt; Dim &gt; &amp;vs)</td></tr>
<tr class="memdesc:a6df4c75ba768e0b0866ab0de79955639"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get closest distance. <br /></td></tr>
<tr class="separator:a6df4c75ba768e0b0866ab0de79955639"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a26f2e63081817fd284c38181bd09a3d8"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a26f2e63081817fd284c38181bd09a3d8"></a>
<a class="el" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classIterativeDecomp.html#a26f2e63081817fd284c38181bd09a3d8">simplify</a> (const <a class="el" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf</a>&lt; Dim &gt; &amp;path)</td></tr>
<tr class="memdesc:a26f2e63081817fd284c38181bd09a3d8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove redundant waypoints. <br /></td></tr>
<tr class="separator:a26f2e63081817fd284c38181bd09a3d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classEllipsoidDecomp"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classEllipsoidDecomp')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classEllipsoidDecomp.html">EllipsoidDecomp&lt; Dim &gt;</a></td></tr>
<tr class="memitem:a0edf48b6b7eba9554239b3d97f4ea481 inherit pro_methods_classEllipsoidDecomp"><td class="memTemplParams" colspan="2"><a class="anchor" id="a0edf48b6b7eba9554239b3d97f4ea481"></a>
template&lt;int U = Dim&gt; </td></tr>
<tr class="memitem:a0edf48b6b7eba9554239b3d97f4ea481 inherit pro_methods_classEllipsoidDecomp"><td class="memTemplItemLeft" align="right" valign="top">std::enable_if&lt; U==2 &gt;::type&#160;</td><td class="memTemplItemRight" valign="bottom"><b>add_global_bbox</b> (<a class="el" href="structPolyhedron.html">Polyhedron</a>&lt; Dim &gt; &amp;Vs)</td></tr>
<tr class="separator:a0edf48b6b7eba9554239b3d97f4ea481 inherit pro_methods_classEllipsoidDecomp"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abc6fcd67502ba7e59fdf8a72a4f0ed1f inherit pro_methods_classEllipsoidDecomp"><td class="memTemplParams" colspan="2"><a class="anchor" id="abc6fcd67502ba7e59fdf8a72a4f0ed1f"></a>
template&lt;int U = Dim&gt; </td></tr>
<tr class="memitem:abc6fcd67502ba7e59fdf8a72a4f0ed1f inherit pro_methods_classEllipsoidDecomp"><td class="memTemplItemLeft" align="right" valign="top">std::enable_if&lt; U==3 &gt;::type&#160;</td><td class="memTemplItemRight" valign="bottom"><b>add_global_bbox</b> (<a class="el" href="structPolyhedron.html">Polyhedron</a>&lt; Dim &gt; &amp;Vs)</td></tr>
<tr class="separator:abc6fcd67502ba7e59fdf8a72a4f0ed1f inherit pro_methods_classEllipsoidDecomp"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pro_attribs_classEllipsoidDecomp"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classEllipsoidDecomp')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classEllipsoidDecomp.html">EllipsoidDecomp&lt; Dim &gt;</a></td></tr>
<tr class="memitem:a1c891943d9a1b162ebcc556627f5c892 inherit pro_attribs_classEllipsoidDecomp"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1c891943d9a1b162ebcc556627f5c892"></a>
<a class="el" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>path_</b></td></tr>
<tr class="separator:a1c891943d9a1b162ebcc556627f5c892 inherit pro_attribs_classEllipsoidDecomp"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1be4eb578f3713dbc1ff66bd4bd717ae inherit pro_attribs_classEllipsoidDecomp"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1be4eb578f3713dbc1ff66bd4bd717ae"></a>
<a class="el" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>obs_</b></td></tr>
<tr class="separator:a1be4eb578f3713dbc1ff66bd4bd717ae inherit pro_attribs_classEllipsoidDecomp"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a88301af066a094537a18a85cc291eb0b inherit pro_attribs_classEllipsoidDecomp"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a88301af066a094537a18a85cc291eb0b"></a>
<a class="el" href="data__type_8h.html#a30c607180de5bc1b7c30f5cbaf9b188b">vec_E</a>&lt; <a class="el" href="structEllipsoid.html">Ellipsoid</a>&lt; Dim &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ellipsoids_</b></td></tr>
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<tr class="memitem:a7484d4146d363737aed364e8732dca68 inherit pro_attribs_classEllipsoidDecomp"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7484d4146d363737aed364e8732dca68"></a>
<a class="el" href="data__type_8h.html#a30c607180de5bc1b7c30f5cbaf9b188b">vec_E</a>&lt; <a class="el" href="structPolyhedron.html">Polyhedron</a>&lt; Dim &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>polyhedrons_</b></td></tr>
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<tr class="memitem:a80a07a0f456f39575c18550aebf90e84 inherit pro_attribs_classEllipsoidDecomp"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a80a07a0f456f39575c18550aebf90e84"></a>
std::vector&lt; std::shared_ptr&lt; <a class="el" href="classLineSegment.html">LineSegment</a>&lt; Dim &gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>lines_</b></td></tr>
<tr class="separator:a80a07a0f456f39575c18550aebf90e84 inherit pro_attribs_classEllipsoidDecomp"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>local_bbox_</b> {<a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt;Dim&gt;::Zero()}</td></tr>
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<a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>global_bbox_min_</b> {<a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt;Dim&gt;::Zero()}</td></tr>
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<a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>global_bbox_max_</b> {<a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt;Dim&gt;::Zero()}</td></tr>
<tr class="separator:a8e63353c575e5b01d85561356da57fb0 inherit pro_attribs_classEllipsoidDecomp"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;int Dim&gt;<br />
class IterativeDecomp&lt; Dim &gt;</h3>

<p><a class="el" href="classIterativeDecomp.html" title="IterativeDecomp Class. ">IterativeDecomp</a> Class. </p>
<p>Iteratively calls ElliseDecomp to form a safer Safe Flight Corridor that is away from obstacles </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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template&lt;int Dim&gt; </div>
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          <td class="memname"><a class="el" href="classIterativeDecomp.html">IterativeDecomp</a>&lt; Dim &gt;::<a class="el" href="classIterativeDecomp.html">IterativeDecomp</a> </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;&#160;</td>
          <td class="paramname"><em>origin</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;&#160;</td>
          <td class="paramname"><em>dim</em>&#160;</td>
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          <td>)</td>
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<p>Basic constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">origin</td><td>The origin of the global bounding box </td></tr>
    <tr><td class="paramname">dim</td><td>The dimension of the global bounding box </td></tr>
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<h2 class="groupheader">Member Function Documentation</h2>
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template&lt;int Dim&gt; </div>
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          <td class="memname">void <a class="el" href="classIterativeDecomp.html">IterativeDecomp</a>&lt; Dim &gt;::dilate_iter </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf</a>&lt; Dim &gt; &amp;&#160;</td>
          <td class="paramname"><em>path_raw</em>, </td>
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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>iter_num</em> = <code>5</code>, </td>
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          <td></td>
          <td class="paramtype"><a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a>&#160;</td>
          <td class="paramname"><em>res</em> = <code>0</code>, </td>
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          <td></td>
          <td class="paramtype"><a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a>&#160;</td>
          <td class="paramname"><em>offset_x</em> = <code>0</code>&#160;</td>
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          <td>)</td>
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<p>Decomposition thread. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">path_raw</td><td>The path to dilate </td></tr>
    <tr><td class="paramname">iter_num</td><td>Max iteration number </td></tr>
    <tr><td class="paramname">offset_x</td><td>offset added to the long semi-axis, default is 0 </td></tr>
    <tr><td class="paramname">res</td><td>Resolution to downsample the path </td></tr>
  </table>
  </dd>
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</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>include/decomp_util/<a class="el" href="iterative__decomp_8h_source.html">iterative_decomp.h</a></li>
</ul>
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